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              <table>    <tr>        <td align="center" rowspan="5">PC端开发环境</td>        <td align="center" width=150px>Windows</td>        <td align="left">Windows11</td>    </tr>    <tr>        <td align="center">Ubuntu</td>        <td align="left">Ubuntu20.04.2的64位版本</td>      </tr>    <tr>        <td align="center">VMware® Workstation 17 Pro</td>        <td align="left">17.6.0 build-24238078</td>      </tr>    <tr>        <td align="center">终端软件</td>        <td align="left">MobaXterm(Professional Edition v23.0 Build 5042 (license))</td>    </tr>    <tr>        <td align="center">Win32DiskImager</td>        <td align="left">Win32DiskImager v1.0</td>      </tr>    <tr>        <td align="center" rowspan="3">Linux开发板环境</td>        <td align="center">Linux开发板</td>        <td align="left">正点原子 i.MX6ULL Linux 阿尔法开发板</td>      </tr>    <tr>        <td align="center">uboot</td>        <td align="left">NXP官方提供的uboot，使用的uboot版本为U-Boot 2019.04</td>      </tr>    <tr>        <td align="center">linux内核</td>        <td align="left">linux-4.19.71(NXP官方提供)</td>      </tr></table>
              </div>
            </details>

<details class="folding-tag" blue><summary> 点击查看本文参考资料 </summary>
              <div class='content'>
              <table>    <tr>        <td align="center">分类</td>        <td align="center">网址</td>        <td align="center">说明</td>    </tr>    <tr>        <td align="center" rowspan="5">官方网站</td>        <td align="left"><a href="https://www.arm.com/" target="_blank">https://www.arm.com/</a></td>        <td align="left">ARM官方网站，在这里我们可以找到Cotex-Mx以及ARMVx的一些文档</td>    </tr>    <tr>        <td align="left"><a href="https://www.nxp.com.cn/" target="_blank">https://www.nxp.com.cn/ </a></td>        <td align="left">NXP官方网站</td>    </tr>    <tr>        <td align="left"><a href="https://www.nxpic.org.cn/" target="_blank">https://www.nxpic.org.cn/</a></td><td align="left">NXP 官方社区</td>    </tr>    <tr>        <td align="left"><a href="https://u-boot.readthedocs.io/en/latest/" target="_blank">https://u-boot.readthedocs.io/en/latest/</a></td><td align="left">u-boot官网</td>    </tr>    <tr>        <td align="left"><a href="https://www.kernel.org/" target="_blank">https://www.kernel.org/</a></td><td align="left">linux内核官网</td>    </tr></table>
              </div>
            </details>

<details class="folding-tag" blue><summary> 点击查看相关文件下载 </summary>
              <div class='content'>
              <table>    <tr>        <td align="center">分类</td>        <td align="center">网址</td>        <td align="center">说明</td>    </tr>    <tr>        <td align="center" rowspan="3">NXP</td>        <td align="left"><a href="https://github.com/nxp-imx" target="_blank">https://github.com/nxp-imx</a></td>        <td align="left">NXP imx开发资源GitHub组织，里边会有u-boot和linux内核的仓库</td>    </tr>    <tr>        <td align="left"><a href="https://github.com/nxp-imx/linux-imx/releases/tag/v4.19.71" target="_blank">nxp-imx/linux-imx/releases/tag/v4.19.71</a></td>        <td align="left">NXP linux内核仓库tags中的v4.19.71</td>    </tr>    <tr>        <td align="left"><a href="https://github.com/nxp-imx/uboot-imx/releases/tag/rel_imx_4.19.35_1.1.0" target="_blank">nxp-imx/uboot-imx/releases/tag/rel_imx_4.19.35_1.1.0</a></td>        <td align="left">NXP u-boot仓库tags中的rel_imx_4.19.35_1.1.0</td>    </tr>    <tr>        <td align="center" rowspan="2">I.MX6ULL</td>        <td align="left"><a href="https://www.nxp.com.cn/docs/en/data-sheet/IMX6ULLIEC.pdf" target="_blank">i.MX 6ULL Applications Processors for Industrial Products</a></td>        <td align="left">I.MX6ULL 芯片手册（datasheet，可以在线查看）</td>    </tr>    <tr>        <td align="left"><a href="https://www.nxp.com.cn/webapp/Download?colCode=IMX6ULLRM&lang_cd=zh" target="_blank">i.MX 6ULL Applications ProcessorReference Manual</a></td>        <td align="left">I.MX6ULL 参考手册（下载后才能查看，需要登录NXP官网）</td>    </tr>    <tr>        <td align="center" rowspan="3">Source Code</td>        <td align="left"><a href="https://elixir.bootlin.com/linux/latest/source" target="_blank">https://elixir.bootlin.com/linux/latest/source</a></td>        <td align="left">linux kernel源码</td>    </tr>    <tr>        <td align="left"><a href="https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux.git/tree/?h=v4.19.71&id=e7d2672c66e4d3675570369bf20856296da312c4" target="_blank">kernel/git/stable/linux.git - Linux kernel stable tree</a></td>        <td align="left">linux kernel源码(官网,tag 4.19.71)</td>    </tr>    <tr>        <td align="left"><a href="https://elixir.bootlin.com/u-boot/latest/source" target="_blank">https://elixir.bootlin.com/u-boot/latest/source</a></td>        <td align="left">uboot源码</td>    </tr></table>
              </div>
            </details>

<h1 id="一、gpio子系统简介"><a href="#一、gpio子系统简介" class="headerlink" title="一、gpio子系统简介"></a><font size=3>一、gpio子系统简介</font></h1><h2 id="1-gpio-子系统有什么用？"><a href="#1-gpio-子系统有什么用？" class="headerlink" title="1. gpio 子系统有什么用？"></a><font size=3>1. gpio 子系统有什么用？</font></h2><p>pinctrl 子系统重点是设置 PIN(有的 SOC 叫做 PAD)的复用和电气属性，如果 pinctrl 子系统将一个 PIN 复用为 GPIO 的话，那么接下来就要用到 gpio 子系统了。 </p>
<p>gpio 子系统顾名思义，就是用于初始化 GPIO 并且提供相应的 API 函数，比如设置 GPIO为输入输出，读取 GPIO 的值等。 </p>
<p>gpio 子系统的主要目的就是方便驱动开发者使用 gpio，驱动开发者在设备树中添加 gpio 相关信息，然后就可以在驱动程序中使用 gpio 子系统提供的 API函数来操作 GPIO， Linux 内核向驱动开发者屏蔽掉了 GPIO 的设置过程，极大的方便了驱动开发者使用 GPIO。  </p>
<p>简单来说，就是管理GPIO，既能支持芯片本身的GPIO，也能支持扩展的GPIO。提供统一的、简便的访问接口，实现：输入、输出、中断。</p>
<h2 id="2-GPIO子系统的层次"><a href="#2-GPIO子系统的层次" class="headerlink" title="2. GPIO子系统的层次"></a><font size=3>2. GPIO子系统的层次</font></h2><img data-src="https://fanhua-picture.oss-cn-hangzhou.aliyuncs.com/01%E5%B5%8C%E5%85%A5%E5%BC%8F%E5%BC%80%E5%8F%91/02IMX6ULL%E5%B9%B3%E5%8F%B0/LV09-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F/LV09-01-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F-03-gpio%E5%AD%90%E7%B3%BB%E7%BB%9F%E7%AE%80%E4%BB%8B/img/03_gpio_system_level.png" alt="image-20210527103908743"  />

<h2 id="3-设备树中的gpio信息"><a href="#3-设备树中的gpio信息" class="headerlink" title="3. 设备树中的gpio信息"></a><font size=3>3. 设备树中的gpio信息</font></h2><p>在几乎所有 ARM 芯片中， GPIO 都分为几组，每组中有若干个引脚。所以在使用 GPIO 子系统之前，就要先确定：它是哪组的？组里的哪一个？  </p>
<p>在设备树中，“ GPIO 组”就是一个 GPIO Controller，这通常都由芯片厂家设置好。我们要做的是找到它名字，比如“ gpio1”，然后指定要用它里面的哪个引脚，比如<code>&lt;&amp;gpio1 0&gt;</code>。  </p>
<h3 id="3-1-iomuxc"><a href="#3-1-iomuxc" class="headerlink" title="3.1 &amp;iomuxc"></a><font size=3>3.1 &amp;iomuxc</font></h3><p>我们找一个复用为GPIO的实例，我们打开 <a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/arch/arm/boot/dts/imx6ul-14x14-evk.dtsi#L446">imx6ul-14x14-evk.dtsi</a> 找到以下内容：</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br></pre></td><td class="code"><pre><span class="line">&amp;iomuxc &#123;</span><br><span class="line"></span><br><span class="line">	<span class="comment">//......</span></span><br><span class="line">	pinctrl_usdhc1: usdhc1grp &#123;</span><br><span class="line">		fsl,pins = &lt;</span><br><span class="line">			MX6UL_PAD_SD1_CMD__USDHC1_CMD     	<span class="number">0x17059</span></span><br><span class="line">			MX6UL_PAD_SD1_CLK__USDHC1_CLK     	<span class="number">0x10059</span></span><br><span class="line">			MX6UL_PAD_SD1_DATA0__USDHC1_DATA0 	<span class="number">0x17059</span></span><br><span class="line">			MX6UL_PAD_SD1_DATA1__USDHC1_DATA1 	<span class="number">0x17059</span></span><br><span class="line">			MX6UL_PAD_SD1_DATA2__USDHC1_DATA2 	<span class="number">0x17059</span></span><br><span class="line">			MX6UL_PAD_SD1_DATA3__USDHC1_DATA3 	<span class="number">0x17059</span></span><br><span class="line">			MX6UL_PAD_UART1_RTS_B__GPIO1_IO19       <span class="number">0x17059</span> <span class="comment">/* SD1 CD */</span></span><br><span class="line">			MX6UL_PAD_GPIO1_IO05__USDHC1_VSELECT    <span class="number">0x17059</span> <span class="comment">/* SD1 VSELECT */</span></span><br><span class="line">			MX6UL_PAD_GPIO1_IO09__GPIO1_IO09        <span class="number">0x17059</span> <span class="comment">/* SD1 RESET */</span></span><br><span class="line">		&gt;;</span><br><span class="line">	&#125;;</span><br><span class="line">    <span class="comment">//......</span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<p>I.MX6ULL-ALPHA 开发板上的 UART1_RTS_B 做为 SD 卡的检测引脚， UART1_RTS_B 复用为 GPIO1_IO19，通过读取这个 GPIO 的高低电平就可以知道 SD 卡有没有插入。首先肯定是将 UART1_RTS_B 这个 PIN 复用为 GPIO1_IO19，并且设置电气属性，也就是前面学习的pinctrl 节点。  </p>
<p>pinctrl 配置好以后就是设置 gpio 了， SD 卡驱动程序通过读取 GPIO1_IO19 的值来判断 SD卡有没有插入，但是 SD 卡驱动程序怎么知道 CD 引脚连接的 GPIO1_IO19 呢？肯定是需要设备树告诉驱动啊！  </p>
<h3 id="3-2-usdhc1节点"><a href="#3-2-usdhc1节点" class="headerlink" title="3.2 &amp;usdhc1节点"></a><font size=3>3.2 &amp;usdhc1节点</font></h3><p>在设备树中 SD 卡节点下添加一个属性来描述 SD 卡的 CD 引脚就行了， SD卡驱动直接读取这个属性值就知道 SD 卡的 CD 引脚使用的是哪个 GPIO 了。 SD 卡连接在I.MX6ULL 的 usdhc1 接口上，我们打开 <a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/arch/arm/boot/dts/imx6ul-14x14-evk.dtsi#L239">imx6ul-14x14-evk.dtsi</a> 找到以下内容：  </p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br></pre></td><td class="code"><pre><span class="line">&amp;usdhc1 &#123;</span><br><span class="line">	pinctrl-names = <span class="string">&quot;default&quot;</span>, <span class="string">&quot;state_100mhz&quot;</span>, <span class="string">&quot;state_200mhz&quot;</span>;</span><br><span class="line">	pinctrl<span class="number">-0</span> = &lt;&amp;pinctrl_usdhc1&gt;;</span><br><span class="line">	pinctrl<span class="number">-1</span> = &lt;&amp;pinctrl_usdhc1_100mhz&gt;;</span><br><span class="line">	pinctrl<span class="number">-2</span> = &lt;&amp;pinctrl_usdhc1_200mhz&gt;;</span><br><span class="line">	cd-gpios = &lt;&amp;gpio1 <span class="number">19</span> GPIO_ACTIVE_LOW&gt;;</span><br><span class="line">	keep-power-in-suspend;</span><br><span class="line">	wakeup-source;</span><br><span class="line">	vmmc-supply = &lt;&amp;reg_sd1_vmmc&gt;;</span><br><span class="line">	status = <span class="string">&quot;okay&quot;</span>;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<p>第 6 行：属性“cd-gpios”描述了 SD 卡的 CD 引脚使用的哪个 IO。属性值一共有三个，我们来看一下这三个属性值的含义，“&amp;gpio1”表示 CD 引脚所使用的 IO 属于 GPIO1 控制器，“19”表示 GPIO1 控制器的第 19 号 IO，通过这两个值 SD 卡驱动程序就知道 CD 引脚使用了 GPIO1_IO19这 GPIO。“GPIO_ACTIVE_LOW”表示低电平有效，如果改为“GPIO_ACTIVE_HIGH”就表示高电平有效。  </p>
<p>根据上面这些信息， SD 卡驱动程序就可以使用 GPIO1_IO19 来检测 SD 卡的 CD 信号了。</p>
<h3 id="3-3-GPIO1-控制器"><a href="#3-3-GPIO1-控制器" class="headerlink" title="3.3 GPIO1 控制器"></a><font size=3>3.3 GPIO1 控制器</font></h3><p>GPIO控制器的设备树中，有两项是必须的：</p>
<ul>
<li>gpio-controller : 表明这是一个GPIO控制器，它下面有很多引脚。</li>
<li>gpio-cells : 指定使用多少个cell(就是整数)来描述一个引脚。</li>
</ul>
<p>我们打开<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/arch/arm/boot/dts/imx6ul.dtsi#L432">imx6ul.dtsi</a>：</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br></pre></td><td class="code"><pre><span class="line">gpio1: gpio@<span class="number">209</span>c000 &#123;</span><br><span class="line">	compatible = <span class="string">&quot;fsl,imx6ul-gpio&quot;</span>, <span class="string">&quot;fsl,imx35-gpio&quot;</span>;</span><br><span class="line">	reg = &lt;<span class="number">0x0209c000</span> <span class="number">0x4000</span>&gt;;</span><br><span class="line">	interrupts = &lt;GIC_SPI <span class="number">66</span> IRQ_TYPE_LEVEL_HIGH&gt;,</span><br><span class="line">		     &lt;GIC_SPI <span class="number">67</span> IRQ_TYPE_LEVEL_HIGH&gt;;</span><br><span class="line">	clocks = &lt;&amp;clks IMX6UL_CLK_GPIO1&gt;;</span><br><span class="line">	gpio-controller;</span><br><span class="line">	<span class="meta">#gpio-cells = <span class="string">&lt;2&gt;</span>;</span></span><br><span class="line">	interrupt-controller;</span><br><span class="line">	<span class="meta">#interrupt-cells = <span class="string">&lt;2&gt;</span>;</span></span><br><span class="line">	gpio-ranges = &lt;&amp;iomuxc  <span class="number">0</span> <span class="number">23</span> <span class="number">10</span>&gt;, &lt;&amp;iomuxc <span class="number">10</span> <span class="number">17</span> <span class="number">6</span>&gt;,</span><br><span class="line">		      &lt;&amp;iomuxc <span class="number">16</span> <span class="number">33</span> <span class="number">16</span>&gt;;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<p>gpio1 节点信息描述了 GPIO1 控制器的所有信息，重点就是 GPIO1 外设寄存器基地址以及兼容属性 。关于 I.MX 系列SOC的GPIO控制器绑定信息可以看<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/Documentation/devicetree/bindings/gpio/fsl-imx-gpio.txt">fsl-imx-gpio.txt - Documentation&#x2F;devicetree&#x2F;bindings&#x2F;gpio&#x2F;fsl-imx-gpio.txt</a>。</p>
<p>第 2 行：设置 gpio1 节点的 compatible 属性有两个，分别为“fsl,imx6ul-gpio”和“fsl,imx35- gpio”，在 Linux 内核中搜索这两个字符串就可以找到 I.MX6UL 的 GPIO 驱动程序。  </p>
<p>第 3 行：reg 属性设置了 GPIO1 控制器的寄存器基地址为 0X0209C000，可以打开《I.MX6ULL 参考手册》找到“Chapter 28:General Purpose Input&#x2F;Output(GPIO)”章节第 28.5 小节，有如图所示的寄存器地址表：    </p>
<img data-src="https://fanhua-picture.oss-cn-hangzhou.aliyuncs.com/01%E5%B5%8C%E5%85%A5%E5%BC%8F%E5%BC%80%E5%8F%91/02IMX6ULL%E5%B9%B3%E5%8F%B0/LV09-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F/LV09-01-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F-03-gpio%E5%AD%90%E7%B3%BB%E7%BB%9F%E7%AE%80%E4%BB%8B/img/image-20250330062617339.png" alt="image-20250330062617339"  />

<p>第 7 行，“gpio-controller”表示 gpio1 节点是个 GPIO 控制器。  </p>
<p>第 8 行，“#gpio-cells”属性和“#address-cells”类似， #gpio-cells 应该为 2，表示一共有两个 cell，第一个 cell 为 GPIO 编号，比如“&amp;gpio1 3”就表示 GPIO1_IO03。第二个 cell 表示GPIO 极性（就是有效电平） ， 如果为 0(GPIO_ACTIVE_HIGH) 的话表示高电平有效，如果为1(GPIO_ACTIVE_LOW)的话表示低电平有效。  </p>
<h1 id="二、gpio-驱动程序"><a href="#二、gpio-驱动程序" class="headerlink" title="二、gpio 驱动程序  "></a><font size=3>二、gpio 驱动程序  </font></h1><p>gpio1 节点的 compatible 属性描述了兼容性，在 Linux 内核中搜索“fsl,imx6ul-gpio”和“fsl,imx35-gpio”这两个字符串，查找 GPIO 驱动文件。<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpio-mxc.c">gpio-mxc.c - drivers&#x2F;gpio&#x2F;gpio-mxc.c</a>就是 I.MX6ULL的 GPIO 驱动文件。</p>
<p>这里就不再详细去分析了，也挺复杂的，感觉会用就行了。</p>
<h2 id="1-核心数据结构"><a href="#1-核心数据结构" class="headerlink" title="1. 核心数据结构"></a><font size=3>1. 核心数据结构</font></h2><p>这里大概了解下重要的3个核心数据结构。记住GPIO Controller的要素，这有助于理解它的驱动程序：</p>
<ul>
<li>一个GPIO Controller里有多少个引脚？有哪些引脚？</li>
<li>需要提供函数，设置引脚方向、读取&#x2F;设置数值</li>
<li>需要提供函数，把引脚转换为中断</li>
</ul>
<p>以Linux面向对象编程的思想，一个GPIO Controller必定会使用一个结构体来表示，这个结构体必定含有这些信息：</p>
<ul>
<li>GPIO引脚信息</li>
<li>控制引脚的函数</li>
<li>中断相关的函数</li>
</ul>
<h3 id="1-1-gpio-device"><a href="#1-1-gpio-device" class="headerlink" title="1.1 gpio_device"></a><font size=3>1.1 gpio_device</font></h3><img data-src="https://fanhua-picture.oss-cn-hangzhou.aliyuncs.com/01%E5%B5%8C%E5%85%A5%E5%BC%8F%E5%BC%80%E5%8F%91/02IMX6ULL%E5%B9%B3%E5%8F%B0/LV09-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F/LV09-01-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F-03-gpio%E5%AD%90%E7%B3%BB%E7%BB%9F%E7%AE%80%E4%BB%8B/img/image-20250401115131806.png" alt="image-20250401115131806"  />

<p>每个GPIO Controller用一个<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L51">gpio_device</a>来表示：</p>
<ul>
<li>里面每一个gpio引脚用一个<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L205">gpio_desc</a>来表示。</li>
<li>gpio引脚的函数(引脚控制、中断相关)，都放在<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/include/linux/gpio/driver.h#L232">gpio_chip</a>里。</li>
</ul>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br><span class="line">22</span><br><span class="line">23</span><br><span class="line">24</span><br></pre></td><td class="code"><pre><span class="line"><span class="class"><span class="keyword">struct</span> <span class="title">gpio_device</span> &#123;</span></span><br><span class="line">	<span class="type">int</span>			id;              <span class="comment">// 它是系统中第几个GPIO Controller</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">device</span>   <span class="title">dev</span>;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">cdev</span>		<span class="title">chrdev</span>;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">device</span>		*<span class="title">mockdev</span>;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">module</span>		*<span class="title">owner</span>;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">gpio_chip</span>	*<span class="title">chip</span>;</span>   <span class="comment">// 含有各类操作函数</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">gpio_desc</span>	*<span class="title">descs</span>;</span>  <span class="comment">// 用来描述引脚，每个引脚对应一个 gpio_desc</span></span><br><span class="line">	<span class="type">int</span>			         base;   <span class="comment">// 这些GPIO的号码基值</span></span><br><span class="line">	u16			         ngpio;  <span class="comment">// 这个GPIO Controller支持多少个gpio</span></span><br><span class="line">	<span class="type">const</span> <span class="type">char</span>		    *label;  <span class="comment">// 标签，名字</span></span><br><span class="line">	<span class="type">void</span>			    *data;</span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">list_head</span>     <span class="title">list</span>;</span></span><br><span class="line"></span><br><span class="line"><span class="meta">#<span class="keyword">ifdef</span> CONFIG_PINCTRL</span></span><br><span class="line">	<span class="comment">/*</span></span><br><span class="line"><span class="comment">	 * If CONFIG_PINCTRL is enabled, then gpio controllers can optionally</span></span><br><span class="line"><span class="comment">	 * describe the actual pin range which they serve in an SoC. This</span></span><br><span class="line"><span class="comment">	 * information would be used by pinctrl subsystem to configure</span></span><br><span class="line"><span class="comment">	 * corresponding pins for gpio usage.</span></span><br><span class="line"><span class="comment">	 */</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">list_head</span> <span class="title">pin_ranges</span>;</span></span><br><span class="line"><span class="meta">#<span class="keyword">endif</span></span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h3 id="1-2-gpio-chip"><a href="#1-2-gpio-chip" class="headerlink" title="1.2 gpio_chip"></a><font size=3>1.2 <a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/include/linux/gpio/driver.h#L232">gpio_chip</a></font></h3><p>我们并不需要自己创建<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L51">gpio_device</a>，编写驱动时要创建的是<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/include/linux/gpio/driver.h#L232">gpio_chip</a>，里面提供了：</p>
<ul>
<li>控制引脚的函数</li>
<li>中断相关的函数</li>
<li>引脚信息：支持多少个引脚？各个引脚的名字？</li>
</ul>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br><span class="line">19</span><br><span class="line">20</span><br><span class="line">21</span><br></pre></td><td class="code"><pre><span class="line"><span class="class"><span class="keyword">struct</span> <span class="title">gpio_chip</span> &#123;</span></span><br><span class="line">	<span class="type">const</span> <span class="type">char</span>		*label;</span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">gpio_device</span>	*<span class="title">gpiodev</span>;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">device</span>		*<span class="title">parent</span>;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">module</span>		*<span class="title">owner</span>;</span></span><br><span class="line">	<span class="comment">// 一些函数</span></span><br><span class="line">	<span class="type">int</span>  (*request)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset);</span><br><span class="line">	<span class="type">void</span> (*<span class="built_in">free</span>)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset);</span><br><span class="line">	<span class="type">int</span>  (*get_direction)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset);</span><br><span class="line">	<span class="type">int</span>  (*direction_input)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset);</span><br><span class="line">	<span class="type">int</span>  (*direction_output)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset, <span class="type">int</span> value);</span><br><span class="line">	<span class="type">int</span>  (*get)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset);</span><br><span class="line">	<span class="type">int</span>  (*get_multiple)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> <span class="type">long</span> *mask, <span class="type">unsigned</span> <span class="type">long</span> *bits);</span><br><span class="line">	<span class="type">void</span> (*<span class="built_in">set</span>)(<span class="keyword">struct</span> gpio_chip *chip, <span class="type">unsigned</span> offset, <span class="type">int</span> value);</span><br><span class="line">	<span class="comment">//......</span></span><br><span class="line">	<span class="type">int</span>			base;  <span class="comment">// GPIO Controller中引脚号码的基值，个数</span></span><br><span class="line">	u16			ngpio;</span><br><span class="line">	<span class="type">const</span> <span class="type">char</span>		*<span class="type">const</span> *names;<span class="comment">// 每个引脚的名字</span></span><br><span class="line">	<span class="type">bool</span>			can_sleep;</span><br><span class="line">	<span class="comment">//......</span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<p>这一结构体用于描述 GPIO 芯片的属性和操作函数， 可以通过函数指针调用相应的函数来请求、 释放、 设置、 获取 GPIO 的状态和数值等操作， 从而实现对 GPI O 的控制和管理， 需要注意的是这个结构体中的一系列函数都不需要我们来填充， 这些工作都是由芯片原厂工程师来完成的。</p>
<h3 id="1-3-gpio-desc"><a href="#1-3-gpio-desc" class="headerlink" title="1.3 gpio_desc"></a><font size=3>1.3 <a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L205">gpio_desc</a></font></h3><p>我们去使用GPIO子系统时，首先是获得某个引脚对应的<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L205">gpio_desc</a>。<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L51">gpio_device</a>表示一个GPIO Controller，也就是GPIO控制器，每个控制器里面支持多个GPIO。在<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L51">gpio_device</a>中有一个<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L205">gpio_desc</a>数组，每一引脚有一项<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L205">gpio_desc</a>。</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br></pre></td><td class="code"><pre><span class="line"><span class="class"><span class="keyword">struct</span> <span class="title">gpio_desc</span> &#123;</span></span><br><span class="line">	<span class="class"><span class="keyword">struct</span> <span class="title">gpio_device</span>	*<span class="title">gdev</span>;</span> <span class="comment">// 属于哪个GPIO Controller</span></span><br><span class="line">	<span class="type">unsigned</span> <span class="type">long</span>		flags;</span><br><span class="line">    <span class="comment">/* flag symbols are bit numbers */</span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_REQUESTED	0</span></span><br><span class="line">	<span class="comment">//......</span></span><br><span class="line">	<span class="comment">/* Connection label */</span></span><br><span class="line">	<span class="type">const</span> <span class="type">char</span>		*label; <span class="comment">// 一般等于gpio_chip的label</span></span><br><span class="line">	<span class="comment">/* Name of the GPIO */</span></span><br><span class="line">	<span class="type">const</span> <span class="type">char</span>		*name;  <span class="comment">// 引脚名</span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h2 id="2-gpio-子系统驱动"><a href="#2-gpio-子系统驱动" class="headerlink" title="2. gpio 子系统驱动  "></a><font size=3>2. gpio 子系统驱动  </font></h2><p>这个驱动就不详细去看了，imx6ull平台的gpio子系统驱动相关的代码在这里：<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpio-mxc.c">gpio-mxc.c - drivers&#x2F;gpio&#x2F;gpio-mxc.c - Linux source code v4.19.71</a>，这个也是平台设备驱动，驱动的匹配表<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpio-mxc.c#L153">mxc_gpio_dt_ids</a>如下：</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br></pre></td><td class="code"><pre><span class="line"><span class="type">static</span> <span class="type">const</span> <span class="class"><span class="keyword">struct</span> <span class="title">of_device_id</span> <span class="title">mxc_gpio_dt_ids</span>[] =</span> &#123;</span><br><span class="line">	&#123; .compatible = <span class="string">&quot;fsl,imx1-gpio&quot;</span>, .data = &amp;mxc_gpio_devtype[IMX1_GPIO], &#125;,</span><br><span class="line">	&#123; .compatible = <span class="string">&quot;fsl,imx21-gpio&quot;</span>, .data = &amp;mxc_gpio_devtype[IMX21_GPIO], &#125;,</span><br><span class="line">	&#123; .compatible = <span class="string">&quot;fsl,imx31-gpio&quot;</span>, .data = &amp;mxc_gpio_devtype[IMX31_GPIO], &#125;,</span><br><span class="line">	&#123; .compatible = <span class="string">&quot;fsl,imx35-gpio&quot;</span>, .data = &amp;mxc_gpio_devtype[IMX35_GPIO], &#125;,</span><br><span class="line">	&#123; .compatible = <span class="string">&quot;fsl,imx7d-gpio&quot;</span>, .data = &amp;mxc_gpio_devtype[IMX35_GPIO], &#125;,</span><br><span class="line">	&#123; <span class="comment">/* sentinel */</span> &#125;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h1 id="三、gpio-子系统-API-函数"><a href="#三、gpio-子系统-API-函数" class="headerlink" title="三、gpio 子系统 API 函数  "></a><font size=3>三、gpio 子系统 API 函数  </font></h1><h2 id="1-函数版本说明"><a href="#1-函数版本说明" class="headerlink" title="1. 函数版本说明"></a><font size=3>1. 函数版本说明</font></h2><p>在目前的 Linux 内核主线中， GPIO（通用输入&#x2F;输出） 子系统存在两个版本， 这里将两个版本区分为新版本和旧版本。 新版本 GPIO 子系统接口是基于描述符（descriptor-based） 来实现的， 而旧版本的 GPIO 子系统接口是基于整数（integer-based） 来实现的， 在 Linux 内核中为了保持向下的兼容性， 旧版本的接口在最新的内核版本中仍然得到支持， 而随着时间的推移， 新版本的 GPIO 子系统接口会越来越完善， 最终完全取代旧版本， 所以主要还是学习新版本的 GPIO 子系统接口。  </p>
<p>新的 GPIO 子系统接口需要与与设备树（Device Tree） 结合使用。 使用设备树和新的 GPIO接口可以更加灵活地配置和管理系统中的 GPIO 资源， 提供了更好的可扩展性和可移植性。 所以如果没有设备树， 就无法使用新的 GPIO 接口。  </p>
<p>那要如何对新旧 GPIO 子系统接口进行区分呢， 一个明显的区别是新的 GPIO 子系统接口使用了以 “gpiod_“作为前缀的函数命名约定， 而旧的 GPIO 子系统接口使用了以”gpio_“作为前缀的函数命名约定。  </p>
<p>一些区分新旧 GPIO 子系统接口的示例如下所示：  </p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">//新接口</span></span><br><span class="line">gpiod_set_value()</span><br><span class="line">gpiod_direction_input()</span><br><span class="line">gpiod_direction_output()</span><br><span class="line">gpiod_get_value()</span><br><span class="line">gpiod_request()</span><br><span class="line"><span class="comment">//旧接口</span></span><br><span class="line">gpio_set_value()</span><br><span class="line">gpio_direction_input()</span><br><span class="line">gpio_direction_output()</span><br><span class="line">gpio_get_value()</span><br><span class="line">gpio_request()</span><br></pre></td></tr></table></figure>

<h2 id="2-gpio描述符"><a href="#2-gpio描述符" class="headerlink" title="2. gpio描述符"></a><font size=3>2. gpio描述符</font></h2><p>新的 GPIO 子系统接口是基于描述符（descriptor-based） 来实现的，这个描述符就是<a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.h#L205">gpio_desc</a>结构体：</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br><span class="line">7</span><br><span class="line">8</span><br><span class="line">9</span><br><span class="line">10</span><br><span class="line">11</span><br><span class="line">12</span><br><span class="line">13</span><br><span class="line">14</span><br><span class="line">15</span><br><span class="line">16</span><br><span class="line">17</span><br><span class="line">18</span><br></pre></td><td class="code"><pre><span class="line"><span class="class"><span class="keyword">struct</span> <span class="title">gpio_desc</span> &#123;</span></span><br><span class="line">    <span class="class"><span class="keyword">struct</span> <span class="title">gpio_device</span> <span class="title">gdev</span>;</span> <span class="comment">// GPIO 设备结构体</span></span><br><span class="line">    <span class="type">unsigned</span> <span class="type">long</span> flags; <span class="comment">// 标志位， 用于表示不同的属性</span></span><br><span class="line">    <span class="comment">/* 标志位符号对应的位号 */</span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_REQUESTED 0 <span class="comment">// GPIO 已请求</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_IS_OUT 1 <span class="comment">// GPIO 用作输出</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_EXPORT 2 <span class="comment">// 受 sysfs_lock 保护的导出标志</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_SYSFS 3 <span class="comment">// 通过/sys/class/gpio/control 导出的标志</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_ACTIVE_LOW 6 <span class="comment">// GPIO 值为低电平时激活</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_OPEN_DRAIN 7 <span class="comment">// GPIO 为开漏类型</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_OPEN_SOURCE 8 <span class="comment">// GPIO 为开源类型</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_USED_AS_IRQ 9 <span class="comment">// GPIO 连接到中断请求（IRQ）</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_IS_HOGGED 11 <span class="comment">// GPIO 被独占占用</span></span></span><br><span class="line">    <span class="meta">#<span class="keyword">define</span> FLAG_TRANSITORY 12 <span class="comment">// GPIO 在休眠或复位时可能失去值</span></span></span><br><span class="line">    <span class="comment">/* 连接标签 */</span></span><br><span class="line">    <span class="type">const</span> <span class="type">char</span> *label; <span class="comment">// GPIO 的名称</span></span><br><span class="line">    <span class="type">const</span> <span class="type">char</span> *name; <span class="comment">// GPIO 的名称</span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h2 id="3-函数都定义在哪？"><a href="#3-函数都定义在哪？" class="headerlink" title="3. 函数都定义在哪？"></a><font size=3>3. 函数都定义在哪？</font></h2><ul>
<li><p><a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/include/linux/gpio/consumer.h">consumer.h - include&#x2F;linux&#x2F;gpio&#x2F;consumer.h - Linux source code v4.19.71</a></p>
</li>
<li><p><a target="_blank" rel="noopener" href="https://elixir.bootlin.com/linux/v4.19.71/source/drivers/gpio/gpiolib.c">gpiolib.c - drivers&#x2F;gpio&#x2F;gpiolib.c - Linux source code v4.19.71</a></p>
</li>
</ul>
<h1 id="四、设备树中添加-gpio-节点模板"><a href="#四、设备树中添加-gpio-节点模板" class="headerlink" title="四、设备树中添加 gpio 节点模板  "></a><font size=3>四、设备树中添加 gpio 节点模板  </font></h1><h2 id="1-创建-test-设备节点"><a href="#1-创建-test-设备节点" class="headerlink" title="1. 创建 test 设备节点  "></a><font size=3>1. 创建 test 设备节点  </font></h2><p>在根节点“&#x2F;”下创建 test 设备子节点，如下所示：  </p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br></pre></td><td class="code"><pre><span class="line">xxx_test &#123;</span><br><span class="line">	<span class="comment">/* 节点内容 */</span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h2 id="2-添加-pinctrl-信息"><a href="#2-添加-pinctrl-信息" class="headerlink" title="2. 添加 pinctrl 信息  "></a><font size=3>2. 添加 pinctrl 信息  </font></h2><p>我们创建了 pinctrl_test 节点:</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br><span class="line">6</span><br></pre></td><td class="code"><pre><span class="line"><span class="comment">// pinctrl_test 节点</span></span><br><span class="line">pinctrl_test: testgrp &#123;</span><br><span class="line">    fsl,pins = &lt;</span><br><span class="line">        MX6UL_PAD_GPIO1_IO00__GPIO1_IO00 config <span class="comment">/* config 是具体设置值 */</span></span><br><span class="line">    &gt;;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<p>此节点描述了 test 设备所使用的 GPIO1_IO00 这个 PIN 的信息，我们要将这节点添加到 test 设备节点中，如下所示  </p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br></pre></td><td class="code"><pre><span class="line">test &#123;</span><br><span class="line">	pinctrl-names = <span class="string">&quot;default&quot;</span>;</span><br><span class="line">    pinctrl<span class="number">-0</span> = &lt;&amp;pinctrl_test&gt;;</span><br><span class="line">    <span class="comment">/* 其他节点内容 */</span></span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<h2 id="3-添加-GPIO-属性信息"><a href="#3-添加-GPIO-属性信息" class="headerlink" title="3. 添加 GPIO 属性信息  "></a><font size=3>3. 添加 GPIO 属性信息  </font></h2><p>我们最后需要在 test 节点中添加 GPIO 属性信息，表明 test 所使用的 GPIO 是哪个引脚，添加完成以后如下所示：  </p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br><span class="line">3</span><br><span class="line">4</span><br><span class="line">5</span><br></pre></td><td class="code"><pre><span class="line">xxx_test &#123;</span><br><span class="line">	pinctrl-names = <span class="string">&quot;default&quot;</span>;</span><br><span class="line">    pinctrl<span class="number">-0</span> = &lt;&amp;pinctrl_test&gt;;</span><br><span class="line">    xxx-gpios = &lt;&amp;gpio1 <span class="number">0</span> GPIO_ACTIVE_LOW&gt;;</span><br><span class="line">&#125;;</span><br></pre></td></tr></table></figure>

<p>定义 GPIO Controller 是芯片厂家需要做的事情，我们只需要引用就可以了，在自己的设备节点中使用属性<code>[&lt;name&gt;-]gpios</code>，不过也不一定，主要还是看厂家怎么写的驱动，例如前面imx6ull的usdhc1中：</p>
<figure class="highlight c"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">cd-gpios = &lt;&amp;gpio1 <span class="number">19</span> GPIO_ACTIVE_LOW&gt;;</span><br></pre></td></tr></table></figure>

<p>我们可以搜一下，就会发现，驱动中是这样写的：</p>
<img data-src="https://fanhua-picture.oss-cn-hangzhou.aliyuncs.com/01%E5%B5%8C%E5%85%A5%E5%BC%8F%E5%BC%80%E5%8F%91/02IMX6ULL%E5%B9%B3%E5%8F%B0/LV09-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F/LV09-01-pinctrl%E5%92%8Cgpio%E5%AD%90%E7%B3%BB%E7%BB%9F-03-gpio%E5%AD%90%E7%B3%BB%E7%BB%9F%E7%AE%80%E4%BB%8B/img/image-20250401151638242.png" alt="image-20250401151638242"  />
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